… of point cloud registration and build a new cross-source point cloud benchmark to evaluate
the performance of the state-ofthe-art registration methods in solving these challenges. …

… mobile robotics applications in which point clouds are to be … a historical perspective of the
registration problem and show … a formalization of geometric registration and cast algorithms …

… 3-D registration in the realistic case where many point-topoint correspondences are
outliers due to incorrect matching. (a) Bunny dataset (source cloud in blue and target cloud in …

… think about representing point clouds. For classification and … of PointNet to point cloud
registration has remained elusive. … -of-the-art in common registration scenarios. The architecture …

… point cloud alignment. Our formulation unifies RGB-D image registration and colored point
cloud registration… is a new approach to colored point cloud registration. Beyond this, we make …

… Since we use per-point embeddings of the two input point clouds to generate a mapping m
… seek a feature per point in the input point clouds rather than one feature per cloud. For this …

… We begin with a new algorithm for learned pairwise point cloud registration, which uses
two point clouds as input and outputs estimated transformation parameters (Sec. 3.1). This …

… 3D point cloud registration framework that achieves comparable registration accuracy to …
of candidates, which can boost the registration accuracy. We comprehensively validate the ef…

… spectrum of environmental structures, so registration solutions can be further evaluated. In
… 35 point clouds each. The sequences were selected to challenge point cloud registration …

… PointNetLK [2], this work introduces point cloud registration network (PCRNet), a framework
for estimating the misalignment between two point clouds … directly process point clouds for …